So, I've set up my quad and I've been slowly perfecting it for the past two weeks. It's a bit overpowered, and runs an APM 2.5.2. I've had it running really pretty well and have flown several times without any big problems. I was having a little trouble with alt-hold and tonight I tried working on adding dampeners for my APM mount and then also added foam over the accelerometer. I then re-calibrated and went outside and booted it up. The very second it was armed, it shot straight up into the sky at night (I know it wasn't smart), I already had throttle bottomed out and I quickly tried to switch to alt hold mode or anything that would stop the climb. Eventually I switched off the controller and it came crashing down straight on my roof and destroyed weeks of hard work.
I would greatly appreciate if anyone could just take a quick look at my log and see what it looks like was the cause. As I looked at it, it shows some error in geo-fence, but I have no idea.
Can anyone tell me what they think please. Thank you for help and time.
Replies
Your barometric altitude are barely over 2meters, when GPS alt indicates 260m ,
RelAlt I cannot explain.
You did not log IMU, but I would guess on serious vibrations.
It looks like I had 8-9 SATs locked but maybe it thought I was in a different location and the geo fence RTL activated. Is that possible?
No, what I say, Is that I do *not* trust your barometric altitude. - It's only 2m - while GPS indicated 260m.
So you may wish to invery your last statement/conclusion. :) your initian description does not sound like it was at max 2m. :)
- there is no indication of GPS problem.
Ok, sorry, I see what you mean. I attached a photo of my errors and graphed altitude. Also, you'll see that the quad went into RTL mode by itself. I never placed it into RTL but I did activate the alt-hold just to see if it would stop the climb. Could the barometer problem and the gps errors be related? I see a FAILSAFE_GPS-1 error immediately upon startup. Could this have caused it to RTL and what would cause these errors if it had locks on the sats?
Thanks so much
errors.jpg
at line 329 you lost GPS (that was soon after acuiring it, so not very surprising.)
already at 338, GPS lock was restored.
Then at 343 you got Altitude Fence
At 362 you were back withing fence. (alarm cleared)
At the time of fence, you had GPS, and RTL were trigged.
It flew much too high (because Bar_Alt was only 2m ?) - If you take a look at your GPS position, it looks good, not many meters of horizontal travel.
I think it "shot upwards" due to wrong altitude, trying to get to your RTL altitude.
All you really needed to do, was to switch modes on transmitter, then select Stabilize (or any non-altitude-controlled mode), and fly it down. (I know it can be much to ask if you are new to this and are in such stressfull situation.)
After repair, I suggest you:
1.- enable logging vibrations in z-axis.
2.- Disable fence and failsafes till you know that autopilot works correctly (get proper data)
3.- testfly in stabilize, then check logged vibrations.
4.- testfly alt_hold and loiter before enabling fence or failsafes.